# Missing ROS driver for Realsense **URL:** \ **Category:** Ask\ **Created:** [April 18, 2023, 2:40am UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673 "2023-04-18T02:40:04Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![sonny](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@sonny](https://forum.hello-robot.com/u/sonny)\ **Post date:** [April 18, 2023, 2:40am UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/1 "2023-04-18T02:40:04Z")
Hello, I was trying to run “roslaunch stretch\_demos hello\_world.launch” and got the error below. ![Screenshot from 2023-04-17 18-50-37](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/db5733742ebbd970ee34fd5908d21795adbbfd76.png) I switched out the gripper with marker holder, calibrated the robot by using “stretch\_robot\_home.py”, checked everything by using “stretch\_robot\_system\_check.py” and ran “pip install -U hello-robot-stretch-tool-share”. I thought it was weird getting the error so I tried doing Perception from Basic Tutorial which I know worked and have ran successfully multiple times before. But when I ran “roslaunch stretch\_core d435i\_low\_resolution.launch” after running “roslaunch stretch\_core stretch\_driver.launch” in a different window, I got the error below. Any idea what could be causing this error? ![Screenshot from 2023-04-17 18-46-16](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/51eb9ea4f8b764756c88c457a3e8e78d21f46fda.png) I have copied and pasted all the lines below in case it helps. First when I ran “roslaunch stretch\_demos hello\_world.launch” > **Output** > > ```auto > roslaunch stretch_demos hello_world.launch > > ... logging to /home/hello-robot/.ros/log/ff8b1ca6-dd76-11ed-b3c2-23f0e184acc6/roslaunch-stretch-re2-2013-4298.log > Checking log directory for disk usage. This may take a while. > Press Ctrl-C to interrupt > Done checking log file disk usage. Usage is <1GB. > started roslaunch server http://10.157.133.236:37539/ > SUMMARY > ======== > PARAMETERS > * /aggregator_node/analyzers/hardware/analyzers/Arm/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/Arm/path: Arm > * /aggregator_node/analyzers/hardware/analyzers/Arm/type: diagnostic_aggreg... > * /aggregator_node/analyzers/hardware/analyzers/Base/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/Base/path: Base > * /aggregator_node/analyzers/hardware/analyzers/Base/type: diagnostic_aggreg... > * /aggregator_nde/analyzers/hardware/analyzers/EndOfArm/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/EndOfArm/path: EndOfArm > * /aggregator_node/analyzers/hardware/analyzers/EndOfArm/type: diagnostic_aggreg... > * /aggregator_node/analyzers/hardware/analyzers/Head/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/Head/path: Head > * /aggregator_node/analyzers/hardware/analyzers/Head/type: diagnostic_aggreg... > * /aggregator_node/analyzers/hardware/analyzers/Lift/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/Lift/path: Lift > * /aggregator_node/analyzers/hardware/analyzers/Lift/type: diagnostic_aggreg... > * /aggregator_node/analyzers/hardware/analyzers/Pimu/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/Pimu/path: Pimu > * /aggregator_node/analyzers/hardware/analyzers/Pimu/type: diagnostic_aggreg... > * /aggregator_node/analyzers/hardware/analyzers/Wacc/find_and_remove_prefix: ['stretch_driver:... > * /aggregator_node/analyzers/hardware/analyzers/Wacc/path: Wacc > * /aggregator_node/analyzers/hardware/analyzers/Wacc/type: diagnostic_aggreg... > * /aggregator_node/analyzers/hardware/path: Hardware > * /aggregator_node/analyzers/hardware/type: diagnostic_aggreg... > * /aggregator_node/path: Stretch > * /aggregator_node/type: diagnostic_aggreg... > * /camera/realsense2_camera/accel_fps: 63 > * /camera/realsense2_camera/accel_frame_id: camera_accel_frame > * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... > * /camera/realsense2_camera/align_depth: True > * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... > * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... > * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... > * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... > * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... > * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... > * /camera/realsense2_camera/allow_no_texture_points: True > * /camera/realsense2_camera/base_frame_id: camera_link > * /camera/realsense2_camera/calib_odom_file: > * /camera/realsense2_camera/clip_distance: -2.0 > * /camera/realsense2_camera/color_fps: 15 > * /camera/realsense2_camera/color_frame_id: camera_color_frame > * /camera/realsense2_camera/color_height: 240 > * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... > * /camera/realsense2_camera/color_width: 424 > * /camera/realsense2_camera/confidence_fps: -1 > * /camera/realsense2_camera/confidence_height: -1 > * /camera/realsense2_camera/confidence_width: -1 > * /camera/realsense2_camera/depth_fps: 15 > * /camera/realsense2_camera/depth_frame_id: camera_depth_frame > * /camera/realsense2_camera/depth_height: 240 > * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... > * /camera/realsense2_camera/depth_width: 424 > * /camera/realsense2_camera/device_type: > * /camera/realsense2_camera/enable_accel: True > * /camera/realsense2_camera/enable_color: True > * /camera/realsense2_camera/enable_confidence: True > * /camera/realsense2_camera/enable_depth: True > * /camera/realsense2_camera/enable_fisheye1: False > * /camera/realsense2_camera/enable_fisheye2: False > * /camera/realsense2_camera/enable_fisheye: False > * /camera/realsense2_camera/enable_gyro: False > * /camera/realsense2_camera/enable_infra1: False > * /camera/realsense2_camera/enable_infra2: False > * /camera/realsense2_camera/enable_infra: False > * /camera/realsense2_camera/enable_pointcloud: False > * /camera/realsense2_camera/enable_pose: False > * /camera/realsense2_camera/enable_sync: True > * /camera/realsense2_camera/filters: pointcloud > * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... > * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... > * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... > * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... > * /camera/realsense2_camera/fisheye_fps: -1 > * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame > * /camera/realsense2_camera/fisheye_height: -1 > * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... > * /camera/realsense2_camera/fisheye_width: -1 > * /camera/realsense2_camera/gyro_fps: 200 > * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame > * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... > * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... > * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame > * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... > * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame > * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... > * /camera/realsense2_camera/infra_fps: 30 > * /camera/realsense2_camera/infra_height: 480 > * /camera/realsense2_camera/infra_rgb: False > * /camera/realsense2_camera/infra_width: 848 > * /camera/realsense2_camera/initial_reset: True > * /camera/realsense2_camera/json_file_path: /home/hello-robot... > * /camera/realsense2_camera/linear_accel_cov: 0.01 > * /camera/realsense2_camera/odom_frame_id: camera_odom_frame > * /camera/realsense2_camera/ordered_pc: False > * /camera/realsense2_camera/pointcloud_texture_index: 0 > * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR > * /camera/realsense2_camera/pose_frame_id: camera_pose_frame > * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... > * /camera/realsense2_camera/publish_odom_tf: True > * /camera/realsense2_camera/publish_tf: True > * /camera/realsense2_camera/reconnect_timeout: 6.0 > * /camera/realsense2_camera/rosbag_filename: > * /camera/realsense2_camera/serial_no: > * /camera/realsense2_camera/stereo_module/exposure/1: 7500 > * /camera/realsense2_camera/stereo_module/exposure/2: 1 > * /camera/realsense2_camera/stereo_module/gain/1: 16 > * /camera/realsense2_camera/stereo_module/gain/2: 16 > * /camera/realsense2_camera/tf_publish_rate: 0.0 > * /camera/realsense2_camera/topic_odom_in: odom_in > * /camera/realsense2_camera/unite_imu_method: > * /camera/realsense2_camera/usb_port_id: > * /camera/realsense2_camera/wait_for_device_timeout: -1.0 > * /d435i_configure/initial_mode: High Accuracy > * /funmap/debug_directory: /home/hello-robot... > * /hello_world/debug_directory: /home/hello-robot... > * /joint_state_publisher/rate: 15.0 > * /joint_state_publisher/source_list: ['/stretch/joint_... > * /laser_filter/scan_filter_chain: [{'name': 'shadow... > * /laser_scan_matcher_node/fixed_frame: odom > * /laser_scan_matcher_node/max_angular_correction_deg: 20.0 > * /laser_scan_matcher_node/max_iterations: 10 > * /laser_scan_matcher_node/max_linear_correction: 0.2 > * /laser_scan_matcher_node/use_imu: False > * /lidar_node/angle_compensate: True > * /lidar_node/frame_id: laser > * /lidar_node/inverted: False > * /lidar_node/scan_mode: Boost > * /lidar_node/serial_baudrate: 115200 > * /lidar_node/serial_port: /dev/hello-lrf > * /robot_description: * /robot_state_publisher/publish_frequency: 15.0 > * /rosdistro: noetic > * /rosversion: 1.15.15 > * /stretch_driver/broadcast_odom_tf: False > * /stretch_driver/controller_calibration_file: /home/hello-robot... > * /stretch_driver/fail_out_of_range_goal: False > * /stretch_driver/rate: 15.0 > * /stretch_driver/timeout: 0.5 > NODES > aggregator_node (diagnostic_aggregator/aggregator_node) > d435i_accel_correction (stretch_core/d435i_accel_correction) > d435i_configure (stretch_core/d435i_configure) > funmap (stretch_funmap/funmap) > hello_world (stretch_demos/hello_world) > joint_state_publisher (joint_state_publisher/joint_state_publisher) > keyboard_teleop (stretch_core/keyboard_teleop) > laser_filter (laser_filters/scan_to_scan_filter_chain) > laser_scan_matcher_node (laser_scan_matcher/laser_scan_matcher_node) > lidar_node (rplidar_ros/rplidarNode) > robot_state_publisher (robot_state_publisher/robot_state_publisher) > stretch_driver (stretch_core/stretch_driver) > /camera/ > realsense2_camera (nodelet/nodelet) > realsense2_camera_manager (nodelet/nodelet) > ROS_MASTER_URI=http://10.157.133.236:11311/ > process[d435i_accel_correction-1]: started with pid [4319] > process[camera/realsense2_camera_manager-2]: started with pid [4320] > process[camera/realsense2_camera-3]: started with pid [4321] > process[d435i_configure-4]: started with pid [4322] > process[joint_state_publisher-5]: started with pid [4324] > process[robot_state_publisher-6]: started with pid [4329] > process[stretch_driver-7]: started with pid [4330] > process[aggregator_node-8]: started with pid [4331] > [INFO] [1681773878.560719607]: Initializing nodelet with 8 worker threads. > process[funmap-9]: started with pid [4348] > process[lidar_node-10]: started with pid [4352] > [WARN] [1681773878.591494718]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. > process[laser_filter-11]: started with pid [4362] > [INFO] [1681773878.604650854]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0 > process[laser_scan_matcher_node-12]: started with pid [4372] > process[hello_world-13]: started with pid [4375] > process[keyboard_teleop-14]: started with pid [4387] > [INFO] [1681773878.652320623]: RPLIDAR S/N: 52F6ED93C0EA98C6A5E698F2C7284666 > [INFO] [1681773878.652362504]: Firmware Ver: 1.29 > [INFO] [1681773878.652376896]: Hardware Rev: 7 > [INFO] [1681773878.685570219]: Starting LaserScanMatcher > [INFO] [1681773878.703563266]: RPLidar health status : OK. > [ERROR] [1681773878.740738649]: Failed to load nodelet [/camera/realsense2_camera] of type [realsense2_camera/RealSenseNodeFactory] even after refreshing the cache: Failed to load library /home/hello-robot/catkin_ws/devel/lib//librealsense2_camera.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = librealsense2.so.2.51: cannot open shared object file: No such file or directory) > [ERROR] [1681773878.740789512]: The error before refreshing the cache was: Failed to load library /home/hello-robot/catkin_ws/devel/lib//librealsense2_camera.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = librealsense2.so.2.51: cannot open shared object file: No such file or directory) > [FATAL] [1681773878.740910821]: Failed to load nodelet '/camera/realsense2_camera` of type `realsense2_camera/RealSenseNodeFactory` to manager `realsense2_camera_manager' > [camera/realsense2_camera-3] process has died [pid 4321, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera__ log:=/home/hello-robot/.ros/log/ff8b1ca6-dd76-11ed-b3c2-23f0e184acc6/camera-realsense2_camera-3.log]. > log file: /home/hello-robot/.ros/log/ff8b1ca6-dd76-11ed-b3c2-23f0e184acc6/camera-realsense2_camera-3*.log > [INFO] [1681773879.018918589]: current scan mode: Boost, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, > [INFO] [1681773879.072971]: /d435i_accel_correction started > [INFO] [1681773879.312386]: /keyboard_teleop started > [INFO] [rospy.topics]: topicmanager initialized > [INFO] [1681773879.866789]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc. > [INFO] [1681773879.867819]: /stretch_driver started > MoveBase __init__ : self.debug_directory = None > MaxHeightImage information: > image.shape = (67, 25) > image.dtype = uint8 > m_per_pix = 0.006 > m_per_height_unit = 0.00027667984189723324 > voi.x_in_m = 0.15 > voi.y_in_m = 0.4 > voi.z_in_m = 0.07 > MaxHeightImage information: > image.shape = (434, 350) > image.dtype = uint8 > m_per_pix = 0.006 > m_per_height_unit = 0.004566929133858267 > voi.x_in_m = 2.1 > voi.y_in_m = 2.6 > voi.z_in_m = 1.16 > DynamixelHelloXL430 Ping failed... stretch_gripper > [INFO] [1681773880.347891]: /hello_world started > [INFO] [1681773880.427154]: mode = position > [INFO] [1681773880.431117]: /stretch_driver: Changed to mode = position > [INFO] [1681773880.436706]: broadcast_odom_tf = False > [INFO] [1681773880.441975]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml > [INFO] [1681773880.447929]: controller parameters loaded = {'arm_retracted_offset': 0.0032103914147080708, 'pan_angle_offset': 0.03188781113779685, 'pan_looked_left_offset': -0.0019369451387574305, 'tilt_angle_backlash_transition': -0.4, 'tilt_angle_offset': 0.025338214818872926, 'tilt_looking_up_offset': -0.04401953681500859} > [INFO] [1681773880.452139]: head_tilt_calibrated_offset_rad in degrees = 1.4517727695172582 > [INFO] [1681773880.457977]: head_pan_calibrated_offset_rad in degrees = 1.827036996106019 > [INFO] [1681773880.461866]: head_pan_calibrated_looked_left_offset_rad in degrees = -0.11097878159918238 > [INFO] [1681773880.466364]: head_tilt_backlash_transition_angle_rad in degrees = -22.918311805232932 > [INFO] [1681773880.470179]: head_tilt_calibrated_looking_up_offset_rad in degrees = -2.5221336756207426 > [INFO] [1681773880.473644]: arm_calibrated_retracted_offset_m in meters = 0.0032103914147080708 > [INFO] [1681773880.503085]: /stretch_driver rate = 15.0 Hz > [INFO] [1681773880.506623]: /stretch_driver timeout = 0.5 s > [INFO] [1681773880.510336]: /stretch_driver use_fake_mechaduinos = False > [INFO] [1681773880.512476]: /stretch_driver base_frame_id = base_link > [INFO] [1681773880.514892]: /stretch_driver odom_frame_id = odom > [INFO] [1681773880.647167]: Node /keyboard_teleop connected to /stop_the_robot service. > [INFO] [1681773880.649565]: Node /keyboard_teleop waiting to connect to /funmap/trigger_head_scan. > [INFO] [1681773880.651558]: Node /hello_world connected to /stop_the_robot service. > [INFO] [1681773880.785706]: /funmap started > [INFO] [1681773880.830383]: Node /funmap connected to /stop_the_robot service. > Node funmap waiting to receive first point cloud. > [INFO] [1681773882.791467]: /d435i_configure started > Waiting for service /camera/stereo_module/set_parameters... > > ``` ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 18, 2023, 9:07am UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/2 "2023-04-18T09:07:15Z")
Hi @sonny, it looks like the ROS driver can’t find the Realsense library. Would you run the following two commands to confirm if your software is set up correctly? ```auto ls ~/catkin_ws/src ``` > **Expected Output** > > ```auto > CMakeLists.txt realsense-ros respeaker_ros stretch_ros stretch_tutorials > > ``` ```auto sudo apt list | grep realsense ``` > **Expected Output** > > ```auto > WARNING: apt does not have a stable CLI interface. Use with caution in scripts. > > librealsense2-dbg/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed] > librealsense2-dev/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed] > librealsense2-dkms/bionic,now 1.3.18-0ubuntu1 all [installed] > librealsense2-gl-dbg/bionic 2.53.1-0~realsense0.8249 amd64 > librealsense2-gl-dev/bionic 2.53.1-0~realsense0.8249 amd64 > librealsense2-gl/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed,automatic] > librealsense2-net-dbg/bionic 2.53.1-0~realsense0.8249 amd64 > librealsense2-net-dev/bionic 2.53.1-0~realsense0.8249 amd64 > librealsense2-net/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed,automatic] > librealsense2-udev-rules/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed,automatic] > librealsense2-utils/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed] > librealsense2/bionic,now 2.53.1-0~realsense0.8249 amd64 [installed,automatic] > ros-foxy-librealsense2-dbgsym/focal 2.51.1-1focal.20220907.184132 amd64 > ros-foxy-librealsense2/focal 2.51.1-1focal.20220907.184132 amd64 > ros-foxy-realsense-msgs-dbgsym/focal 2.0.8-2focal.20230317.002050 amd64 > ros-foxy-realsense-msgs/focal 2.0.8-2focal.20230317.002050 amd64 > ros-foxy-realsense2-camera-dbgsym/focal 4.51.1-1focal.20230317.014348 amd64 > ros-foxy-realsense2-camera-msgs-dbgsym/focal 4.51.1-1focal.20230317.002854 amd64 > ros-foxy-realsense2-camera-msgs/focal 4.51.1-1focal.20230317.002854 amd64 > ros-foxy-realsense2-camera/focal 4.51.1-1focal.20230317.014348 amd64 > ros-foxy-realsense2-description/focal 4.51.1-1focal.20230317.013928 amd64 > ros-galactic-librealsense2-dbgsym/focal 2.51.1-1focal.20221203.075934 amd64 > ros-galactic-librealsense2/focal 2.51.1-1focal.20221203.075934 amd64 > ros-galactic-realsense2-camera-dbgsym/focal 4.51.1-1focal.20221208.064921 amd64 > ros-galactic-realsense2-camera-msgs-dbgsym/focal 4.51.1-1focal.20221203.095902 amd64 > ros-galactic-realsense2-camera-msgs/focal 4.51.1-1focal.20221203.095902 amd64 > ros-galactic-realsense2-camera/focal 4.51.1-1focal.20221208.064921 amd64 > ros-galactic-realsense2-description/focal 4.51.1-1focal.20221208.064921 amd64 > ros-noetic-librealsense2-dbgsym/focal 2.50.0-1focal.20211115.134455 amd64 > ros-noetic-librealsense2/focal 2.50.0-1focal.20211115.134455 amd64 > ros-noetic-realsense2-camera-dbgsym/focal 2.3.2-1focal.20230215.235752 amd64 > ros-noetic-realsense2-camera/focal 2.3.2-1focal.20230215.235752 amd64 > ros-noetic-realsense2-description/focal 2.3.2-1focal.20230306.095351 amd64 > > ``` ---
**Author:** ![sonny](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@sonny](https://forum.hello-robot.com/u/sonny)\ **Post date:** [April 18, 2023, 3:46pm UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/3 "2023-04-18T15:46:31Z")
Below is what I got. It appears to be correct. ![Screenshot from 2023-04-18 08-44-58](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/a7e76011621ae480d31e4eb81404cf2a42f6cd42.png) ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 18, 2023, 10:03pm UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/4 "2023-04-18T22:03:47Z")
Hi @sonny, the “ros-noetic-librealsense2” and “ros-noetic-realsense2-camera” packages shouldn’t be installed. You can uninstall them using: ```auto sudo apt remove ros-noetic-librealsense2 ros-noetic-realsense2-camera ``` ---
**Author:** ![sonny](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@sonny](https://forum.hello-robot.com/u/sonny)\ **Post date:** [April 18, 2023, 11:07pm UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/5 "2023-04-18T23:07:04Z")
Thank you. I have uninstalled them, but I am still having the same issue. It is strange because it was working before and it suddenly does not work. No changes were made during the period of inactivity. Below is when I tried to run “roslaunch stretch\_core d435i\_low\_resolution.launch” for Perception under Basic Tutorial. ![Screenshot from 2023-04-18 16-03-44](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/e762912924df2af63ec3b35b3469222f31b01491.png) ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 18, 2023, 11:19pm UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/6 "2023-04-18T23:19:54Z")
Hi @sonny, let’s try rebuilding your ROS workspace. Try running the following commands: ```auto cd ~/catkin_ws rm -rf build/ devel/ # deletes the previous workspace build catkin_make ``` Then open a new terminal and try again. ---
**Author:** ![sonny](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@sonny](https://forum.hello-robot.com/u/sonny)\ **Post date:** [April 19, 2023, 9:29pm UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/7 "2023-04-19T21:29:36Z")
Thank you, it worked! I should have tried this first. Thanks for your help again. I do have a quick question running “roslaunch stretch\_demos hello\_world.launch”. I noticed that there are buttons to press to initiate with other demos. Is there one for writing Hello World (whiteboard writing)? I have been running it but it has not actually performed the action. > > > //github.com/hello-robot/stretch\_ros/tree/master/stretch\_demos > [@Autonomy Video Details](https://forum.hello-robot.com/t/autonomy-video-details/52): > > Hello everyone, Below, I provide details about the autonomy demos that ship with Stretch in order of their appearance in our [autonomy compilation video](https://youtu.be/QJxb89TMF68). We intend for these demos to serve as inspirational examples that others can build upon. We wrote all of the code in Python and released it as [open source on GitHub](https://github.com/hello-robot/stretch_ros). Best wishes, Charlie Charlie Kemp, PhD co-founder & CTO Hello Robot Inc. [http://charliekemp.com](http://charliekemp.com/) Hello World (whiteboard writing) [code](https://github.com/hello-robot/stretch_ros/blob/master/stretch_demos/nodes/hello_world)[full video](https://youtu.be/N_ZEjpGghc0) In this demo… ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 19, 2023, 10:20pm UTC](https://forum.hello-robot.com/t/missing-ros-driver-for-realsense/673/8 "2023-04-19T22:20:17Z")
Glad to hear that! For triggering the whiteboard demo, it looks like it’s the ‘`’ and ‘~’ keys. Here’s where it is in the source code: >